JP2011146040A - Vehicle reverse running prevention system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle reverse running prevention system for quickly detecting reverse running of a self vehicle without mounting a database which has reverse running prohibiting road information that completely covers a parking lot area, and issuing a warning to a driver in an in-vehicle car navigation system. <P>SOLUTION: A one-way traffic attribute is granted to an exit road leading to the road outside from inside the parking lot area. The information is used to detect reverse running of a vehicle on the exit road and the driver is warned. In addition, the one-way traffic attribute is used to predict whether or not the vehicle is running in such a way as leading to reverse running inside the parking lot area before it approaches the exit road. When it is determined that the reverse running is going to occur, warning is issued. Thus, even when the one-way traffic attribute is not completely equipped inside the parking lot area, warning against reverse running is issued more quickly. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a reverse running prevention system for a vehicle, and relates to a system for informing when reverse running of a host vehicle is detected.

  2. Description of the Related Art Conventionally, a reverse running prevention system for a vehicle that issues a warning to prevent entry from a reverse direction to a one-way street of a service area or a parking area (hereinafter referred to as SA / PA) on an automobile exclusive road. Are known. For example, in Patent Document 1, when a database having reverse running prohibition road information is mounted on the reverse running prevention system for a vehicle and approached from the reverse direction with respect to the forward direction of the reverse running prohibition road, A technique for preventing reverse running by issuing a warning to a driver by at least one of voice and screen display is disclosed.

JP 2007-139531 A

  However, such a database is rarely fully maintained in a parking area. For example, even in the SA / PA registered in the database, there is a problem in that reverse running cannot be detected when traveling in an area in which reverse road prohibition road information is not set. That is, in the prior art, even if the vehicle is actually running in reverse, a reverse running warning cannot be made unless it reaches the vicinity of the point where the database is maintained. This delays the warning to the user.

  Accordingly, the present invention has been made in view of such a problem, and an object thereof is to enable a reverse running state to be warned more quickly in a vehicle reverse running prevention system.

  In order to solve the above-mentioned problem, in the reverse running prevention system for a vehicle according to claim 1, own vehicle information detecting means for detecting a current position and a running direction of the own vehicle, a parking area, and the parking Storage means for storing an exit road that leads from the area to an external road and a travelable direction of the exit road, the detected current position and travel direction of the host vehicle, the stored exit road, and First reverse running detection means for detecting reverse running of the host vehicle on the exit road from a possible travel direction of the exit road, wherein the first reverse running detection means detects reverse running of the own vehicle. In the vehicular reverse running prevention system that notifies when the vehicle has not reached the exit road in the parking area, based on the travelable direction of the exit road, from the current position of the host vehicle The exit road A travelable route calculating means for calculating a travelable route up to, a second reverse travel detection means for detecting reverse travel of the host vehicle based on the calculated travelable route and at least the current position of the host vehicle; Is provided, and the second reverse running detection means notifies when reverse running of the host vehicle is detected.

  If configured in this way, road information in the parking area is not maintained, but information on the exit road that leads from the inside of the parking area to the external road and the direction in which the exit road can run is maintained. Even if the host vehicle is present in the parking area, the following effects can be obtained. That is, the travelable route to the exit road is calculated from the travelable direction of the exit road where the road information is maintained and the current position of the host vehicle. Next, the calculated travelable route is compared with the current position of the host vehicle, and when reverse running of the host vehicle is detected, the user is notified of that. In this way, even if the current position of the vehicle is an area where road information other than the exit road in the parking area is not maintained, the user can follow the calculated travelable route to the exit road in the parking area. You can travel. In addition, since the user can know the reverse running of the vehicle before reaching the exit road where the road information is maintained, the user can quickly perform driving operations such as route return.

  Here, even if the vehicle starts to travel according to the travelable route calculated, the vehicle may not be able to travel on the travelable route because there are obstacles such as other vehicles. Accordingly, the invention according to claim 2 is the vehicular reverse running prevention system according to claim 1, comprising a surrounding vehicle detection means for detecting a positional relationship between the host vehicle and the surrounding vehicle, and the travelable route The calculating means calculates the travelable route in consideration of the positional relationship detected by the surrounding vehicle detecting means.

  In other words, the positional relationship between the host vehicle and the surrounding vehicles is detected, the candidate travelable route including the position where the other vehicle exists is excluded, and the travelable route on which the host vehicle can travel is calculated. In this way, it is possible to prevent a travelable route in which another vehicle exists and the host vehicle cannot travel from being calculated and displayed to the user.

  By the way, when the own vehicle parks in the parking area, the user leaves the own vehicle to take a break after stopping the driving system of the own vehicle. And when the user operates the drive system to start the vehicle again, there is a possibility that the exit direction of the parking area will be forgotten because a certain time has elapsed since parking in the parking area. is there. In view of this, the invention according to claim 3 is the vehicle reverse running prevention system according to claim 1 or 2, further comprising a parking detection means for detecting that the host vehicle is parked in the parking area. The reverse running detection by the reverse running detection means is performed when the own vehicle moves again after the parking detection means detects the parking of the own vehicle. The travelable route from the parking position to the exit road is calculated.

  By configuring in this way, when the user parks the vehicle in the parking area and then may start the vehicle while forgetting the exit direction of the parking area, reverse detection or traveling Driving support such as display of possible routes can be effectively performed.

Specifically, as the operation of the second reverse running detection means, as in the invention according to claim 4,
4. The vehicle reverse running prevention system according to claim 1, wherein the second reverse running detection means compares the travelable route with the current position of the own vehicle to determine the current position of the own vehicle. When the vehicle has left the travelable route, the reverse travel of the host vehicle is detected.

  With this configuration, the coordinate data including the latitude / longitude of the current position of the host vehicle acquired during traveling is compared with the coordinate data including the latitude / longitude constituting the route data of the travelable route calculated above. can do. Therefore, when the host vehicle leaves the travelable route, a difference occurs between the two coordinate data, so that it is possible to detect reverse running of the host vehicle.

  Further, as another operation of the second reverse running detection means, as in the invention according to claim 5, the reverse running prevention system for a vehicle according to claim 1 to 4, wherein the second reverse running detection is performed. The means compares the travelable route with the travel direction of the host vehicle, and detects reverse travel of the host vehicle when the travel direction of the host vehicle is different from the travelable route.

  If comprised in this way, the traveling direction of the own vehicle acquired during driving | running | working can be compared with the traveling direction set to the driveable path | route calculated previously. Therefore, when the host vehicle travels in a direction different from the travel direction set in the travelable route, a difference occurs in the both travel direction data, so that the reverse travel of the host vehicle can be detected.

  In the above invention, the reverse running detection of the host vehicle by the second reverse running detection means is determined based on the travelable route, but it is also possible to do the following. The invention according to claim 6 is the vehicle reverse running prevention system according to any one of claims 1 to 5, further comprising reverse running area calculation means for calculating the reverse running area, wherein the reverse running area is: The parking area in a direction that does not include the travelable route with the current position of the host vehicle as a base point, and the second reverse running detection means includes the calculated reverse running area and the current position of the own vehicle. Based on the traveling direction of the host vehicle, when the host vehicle travels in the direction of entering or entering the reverse running area, the backward running of the host vehicle is detected.

  If comprised in this way, it will not drive | work from the present position of the own vehicle to the parking area of the direction which does not include the driving | running | working possible path | route, ie, from the present position of the own vehicle to the exit road in a parking area. The parking area can be calculated as a reverse running area. Therefore, it is possible to compare the coordinate data of the current position of the host vehicle acquired during traveling with the coordinate data constituting the calculated area data of the reverse traveling area. That is, when the host vehicle enters the reverse running area, the coordinate data of the current position of the own vehicle is included in the coordinate data of the reverse running area, so that the reverse running of the own vehicle can be detected. Further, even if the host vehicle has not entered the reverse running area, if the traveling direction of the own vehicle is the direction in which the reverse running area exists, it can be determined that the vehicle will enter the reverse running area if it continues to run. Therefore, not only when entering the reverse running area, but also when there is a possibility of entering the reverse running area, the reverse running of the host vehicle can be detected.

  As an example of the invention described in claim 6, for example, the invention described in claim 7 is the vehicle reverse running prevention system described in claim 6, wherein the second reverse running detection means includes the self-running detection unit. Based on the current position of the vehicle and the traveling direction of the host vehicle, when the host vehicle moves backward in a direction away from the backward running area, the backward running of the host vehicle is detected.

  By configuring in this way, for example, the following effects can be obtained. When the host vehicle is traveling in a parking area, obstacles such as other vehicles may exist in the front direction of the host vehicle. At this time, since the vehicle cannot travel in the front direction of the host vehicle, the vehicle may move backward and switch back in the traveling direction. However, the steering switchback direction is incorrect, and the host vehicle is started in a direction different from the direction in which the vehicle should originally travel. there is a possibility. Generally, when the host vehicle moves backward, the host vehicle then travels in the front direction of the vehicle. Therefore, when the host vehicle moves backward in a direction away from the reverse running area, the vehicle travels toward the reverse running area. Therefore, when the host vehicle moves backward in the direction away from the reverse running area, the reverse running of the own vehicle can be detected.

  By the way, in invention of Claim 6, when calculating a reverse running area, it is based on the present position of the own vehicle. That is, immediately after calculating the reverse running area, the distance between the current position of the host vehicle and the reverse running area is close. Therefore, immediately after calculating the reverse running area, if the user's steering operation has been shaken by the user's steering operation, or if the vehicle has made a turn to change the direction of the own vehicle, the vehicle will enter the reverse running area and There is a possibility that the reverse running of the vehicle is erroneously detected. Accordingly, the invention according to claim 8 is the vehicle reverse run prevention system according to claim 6 or 7, wherein the reverse run area calculation means is based on a point outside the current position of the host vehicle. The reverse running area is calculated.

In other words, when calculating the reverse running area by calculating the reverse running area from a point about several meters away from the current position of the own vehicle, such as the vehicle width and the turning radius of the own vehicle, A certain distance can be set to the reverse run area. In this way, even if the behavior of the host vehicle fluctuates immediately after calculating the reverse running area, there is a certain distance from the current position of the own vehicle to the reverse running area, so the reverse running of the own vehicle is erroneously detected. The possibility of doing so can be reduced.
As in the eighth aspect of the invention, depending on the user's operation, the vehicle may be shaken by, for example, the user's steering operation or turning back at the time of parking, even if there is no intention of reverse running. In such a case, it is troublesome for the user to issue a mechanical warning just because the vehicle has left the travelable route. Accordingly, the invention according to claim 9 is the vehicle reverse running prevention system according to any one of claims 1 to 8, wherein the second reverse running detection means is configured to detect the current position of the host vehicle with respect to the travelable route. If the position is within a predetermined range, reverse running is not detected.

  That is, when a margin of several meters is provided in a direction perpendicular to the traveling direction of the travelable route and the current position of the host vehicle is within an area formed by the margin, the second reverse traveling detection means Do not perform reverse run detection by. In this way, even if the own vehicle shakes due to the user's steering operation or the like, it is possible to prevent notification by reverse running detection that is not only troublesome for the user but also possibly confusing.

  The above is a configuration for calculating the travelable route based on the travelable direction of the exit road for which road information is maintained in the parking area. In other words, the calculated travelable route and the road in the parking area where the host vehicle actually travels do not necessarily match. Therefore, for example, when traveling on a rotary or T-shaped road that exists in a parking area, or on an inner circumferential road with a small curvature radius and a tight curve, it is actually traveling along the inner circumferential road. Even in such a case, it may be determined that the vehicle has left the calculated travelable route, and reverse travel may be erroneously detected. Therefore, in the vehicle reverse running prevention system according to claim 10, the own vehicle information detecting means for detecting the current position and the traveling direction of the own vehicle, the vehicle existing in the parking area, and from the parking area to an external road Storage means for storing the exit road and the travelable direction of the exit road, the detected current position and travel direction of the host vehicle, and the travelable directions of the stored exit road and exit road. 1st reverse running detection means for detecting reverse running of the host vehicle on the exit road, and for the vehicle to notify when the first reverse running detection means detects reverse running of the own vehicle In the reverse running prevention system, the vehicle further comprises an inner circumference information acquisition means for obtaining an inner circumference road other than the exit road in the parking area and a travelable direction of the inner circumference road from outside, the acquired inner circumference road and How to travel on the inner road Is specified on the basis of the travel trajectory of the other vehicle, and when the host vehicle has not reached the exit road in the parking area, the acquired inner and inner roads are traveled. Based on a possible direction, a travel route calculating means for calculating a travelable route from the current position of the host vehicle to the exit road, the calculated travelable route, and at least the current position of the host vehicle. 2nd reverse running detection means which detects reverse running of a vehicle, and it reports, when reverse running is detected by said 2nd reverse running detection means, It is characterized by the above-mentioned.

  If comprised in this way, the road information regarding the coordinate data of an inner periphery road and a driving | running | working direction is acquirable from the driving information of the vehicle which is actually drive | working the road in a parking area. A travelable route can be calculated based on the acquired road information. Therefore, the calculated travelable route and the road in the parking area where the host vehicle actually travels coincide with each other, so that erroneous reverse running detection as described above can be prevented.

  Hereinafter, the invention described in claims 11 to 18 can obtain the same effect as the invention described in claims 2 to 9 described above.

  As described above, in the inventions described so far, road information related to roads other than the exit road in the parking area, that is, the road around the inner circumference in the parking area has not been maintained. Here, when road information including the inner peripheral road in the parking area and the travelable direction of the inner peripheral road is developed in the future, the travelable path can be calculated based on the maintained road information. However, it takes a certain period of time for the road information in the parking area to be completely maintained, and even if position information such as the latitude and longitude of the inner road is prepared, information on the direction in which the inner road can travel is maintained. It is not always done. Therefore, in the reverse running prevention system for a vehicle according to claim 19, own vehicle information detecting means for detecting a current position and a running direction of the own vehicle, and a road outside the parking area that is present in the parking area. A storage means for storing the exit road leading to the road, the travelable direction of the exit road, and the inner peripheral road in the parking area and a part of the travelable direction, and the detected current position and travel of the host vehicle A first reverse running detection means for detecting reverse running of the host vehicle on the exit road from the direction and the stored exit road and the direction in which the exit road can travel; If the vehicle has not reached the exit road, a travelable route from the current position of the host vehicle to the exit road is determined based on the stored exit road and inner road and its travelable direction. Calculateable travel route Exit means, second calculated reverse travel detection means for detecting reverse travel of the host vehicle based on at least the current position of the host vehicle, and the first and second reverse travel detection. When a reverse running of the host vehicle is detected by the means, in the vehicular reverse running prevention system provided with a notifying means for notifying the fact, the travel on the inner circumference road is performed when the travelable route is calculated by the travelable route calculating means. When the possible direction is not stored in the storage means, the road includes a road travelable direction identifying means for identifying the travelable direction of the inner circumference based on the travelable direction of the exit road, and the travelable route Is calculated in consideration of the travelable direction specified by the road travelable direction specifying means.

  If comprised in this way, the driving | running | working direction of the inner peripheral road which is not partially maintained can be specified based on the driving | running | working direction of an exit road. In other words, even if the driving direction of some inner circumference roads is not maintained, driving based on the road in the parking area where the vehicle actually travels based on the maintained road information and the specified driving direction Possible routes can be calculated. Therefore, the user can know the detailed and quick reverse running of the vehicle.

  Hereinafter, the invention described in claims 20 to 27 can obtain the same effect as the invention described in claims 2 to 9 described above.

  In the invention described so far, the reverse running of the host vehicle is detected based on the exit road that leads from the parking area to the external road. However, it is also possible to detect reverse running of the host vehicle based on the running track as in the following invention, without being based on the exit road.

  The invention described in claim 28 is a host vehicle information detecting means for sequentially detecting a current position of the host vehicle, a storage means for storing map data including data of a parking area and an approach path to the parking area, A travel locus of the host vehicle after determining that the host vehicle has entered the parking area based on the current position of the host vehicle detected by the vehicle information detecting means and the map data, and the host vehicle is in the parking area Warehousing trajectory creation means for creating a warehousing trajectory starting from the parked position based on the current position of the host vehicle detected by the host vehicle information detection means, and the host vehicle parked in the parking area. Thereafter, an exit travel locus creating means for creating an exit travel locus, which is a travel locus from the time of restart, based on the current position of the own vehicle detected by the own vehicle information detection means, and the entry travel locus, A reverse running detection means for detecting reverse running of the host vehicle based on a comparison with the recorded running trajectory, and reporting when the reverse running of the host vehicle is detected by the reverse running detection means, This is a vehicle reverse running prevention system.

  If configured in this way, since the reverse running of the host vehicle is detected based on the comparison between the warehousing trajectory and the leaving traveling trajectory, the reverse running is detected at a relatively early time after restarting and a warning is issued. It becomes possible to do. Furthermore, reverse running can be detected even in a parking area where the exit road is not maintained, and of course, there is no need to calculate the exit road.

  In the invention according to claim 29, the reverse running detection means is equal to or more than a first threshold distance set in advance to a minimum distance at which the comparison between the warehousing traveling locus and the warehousing traveling locus can be accurately performed from the time of the restart. It is characterized in that both trajectories are compared based on traveling. By comprising in this way, it can suppress that an inaccurate comparison is performed in the state where the length of the leaving traveling locus is not sufficient.

  Further, in the invention according to claim 30, the reverse running detection means, based on the fact that the vehicle has traveled a second threshold distance set to be equal to or greater than the first threshold distance from the time of the restart, The comparison with the leaving running locus is ended. By comprising in this way, although it is a state which does not require a comparison, it can suppress performing comparing with a warehousing travel locus | trajectory and a leaving travel locus | trajectory.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram illustrating a configuration of an in-vehicle navigation device that implements a first embodiment of the present invention. It is a flowchart which concerns on the 1st Example of this invention. It is the schematic for demonstrating the 1st Example of this invention. It is the schematic explaining the calculation method of the driving | running | working path | route in 1st Example of this invention. It is a figure which illustrates the runable route calculated by the 1st example of the present invention. It is the schematic explaining the 2nd reverse running detection means in 1st Example of this invention. It is the schematic explaining the method to calculate the reverse run area in 1st Example of this invention. It is the schematic explaining the 2nd reverse running detection means using the reverse running area in 1st Example of this invention. It is a flowchart which concerns on another embodiment in the 1st Example of this invention. It is an auxiliary figure for explaining the 2nd example of the present invention. It is a block diagram which shows the structure of the vehicle-mounted navigation apparatus which implement | achieves 2nd Example of this invention. It is the schematic explaining the method to calculate the driving possible route in the 2nd example of the present invention. It is a figure which illustrates the runable route calculated by the 2nd example of the present invention. It is a flowchart which concerns on the method of calculating a driving | running | working possible route in the 3rd Example of this invention. It is the schematic explaining the method of calculating the driving | running | working possible path | route in the 3rd Example of this invention. It is a figure which illustrates the runable route calculated by the 3rd example of the present invention. In the present invention, it is a schematic diagram for explaining a method for calculating a travelable route when there is another vehicle around the host vehicle. In this invention, it is a figure which illustrates the driving | running | working path | route calculated when other vehicles exist around the own vehicle. In this invention, it is the schematic explaining another method of calculating a reverse running area. 10 is a flowchart illustrating a main part of processing executed by a control unit 16 in a fourth embodiment. It is a figure explaining the example from which step 2006 of FIG. 21 becomes YES.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment in which the present invention is applied to a vehicle navigation system will be described with reference to the drawings.

  FIG. 1 is a block diagram showing the overall configuration of an in-vehicle navigation system to which the vehicle reverse running prevention system of the present invention is applied. In the description after FIG. 1, the same components are denoted by the same reference numerals and description thereof is omitted.

  The in-vehicle navigation device 10 is a nonvolatile storage device represented by an HDD (Hard Disk Drive) or a flash memory in which a storage medium for storing map data and a data input device for reading the map data are integrated. 11. Sensor unit 12 for detecting the vehicle speed and current position of the vehicle, display unit 13 for providing various displays to the user, audio generating unit 14 for outputting sound, and a group of operation switches for receiving input from the user 15 and a control unit 16 for controlling them are connected and configured.

  The map data stored in the storage device 11 includes node data associated with latitude and longitude information, road data called link data (vector data), and a destination set by the user from the current position of the specified vehicle. Cost data for calculating the guide route to the road, road facility data, and the like.

  The link data consists of road link data (road link) corresponding to each road, and the road link includes latitude / longitude information, road type, and one-way attribute (travelable direction in the present invention) constituting the road. Are associated.

  The road type indicates a type such as a general road, an expressway, and a toll road, and is associated with each road link. In the present embodiment, it is assumed that a road type includes an exit road that is provided in the SA / PA and exits to an automobile-only road, and the exit road is always given a one-way attribute.

  The sensor unit 12 generates a pulse corresponding to the rotation of the wheel and measures the pulse to detect a vehicle speed sensor 12a, a gyro sensor 12b that detects the rotational motion of the vehicle, and a GPS (Global Positioning System). For example, a GPS receiver 12c that receives radio waves from artificial satellites. And the sensor part 12 inputs the detection signal from an above-described component element into the control part 16, and the control part 16 receives this, and detects and specifies the mileage of the vehicle, the present location, the advancing direction, direction, etc. .

  The display unit 13 includes a liquid crystal display, an organic EL (Electro Luminescence) display, and the like, and can provide various displays to the user. For example, a symbol mark indicating the current location specified from the current position of the host vehicle detected by the sensor unit 12 and the map data input from the storage device 11, a guidance route from the current location to the destination can be displayed in an overlapping manner. The display unit 13 may be arranged integrally with a vehicle speedometer or the like, or may be a window shield display that is optically projected onto the windshield.

  The voice generation unit 14 outputs voice for facility guidance of the map data and various notifications. In the present embodiment, the voice generation unit 14 has a role as a notification unit when issuing a voice warning during route guidance or reverse running.

  The operation switch group 15 is a mechanical key switch provided on the instrument panel in the vehicle interior or a touch switch provided integrally with the display unit 13. The operation switch group 15 receives various operation commands from the user and receives the received commands. Is input to the control unit 16 as a signal. The operation switch group 15 may be provided in a remote control terminal (not shown) so as to receive instructions from the user by receiving radio waves from the remote terminal.

  The control unit 16 is configured mainly by a microcomputer in which a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory) is connected to a CPU (Central Processing Unit) by a bus line. Then, input signals from the various constituent elements described above and programs stored in the ROM are read into the RAM and various processes are executed.

Hereinafter, an operation of the control unit 16 according to the present invention will be described with reference to examples.
Example 1
The premise of Example 1 is that the exit road in the parking area is given a one-way attribute as a one-way attribute (hereinafter referred to as the exit road link direction). The road information about the inner circumference road which is a road in a parking area other than is not recognized (not stored). The outline of this embodiment is that the host vehicle runs backward on the inner road in the parking area using the exit road link direction of the exit road before the vehicle reaches the exit road in the parking area. It predicts whether there is a possibility and issues a warning as soon as possible.

In the first embodiment, first, an operation until the own vehicle enters the SA / PA from the main line of the automobile exclusive road and exits the SA / PA will be described.
(Operation until entering SA / PA and leaving SA / PA)
FIG. 2 is an operational flowchart for notification by reverse running detection performed until the host vehicle enters SA / PA and exits SA / PA. The reason for starting this operation (step 200) is, for example, when the own vehicle enters the SA / PA from the main road of the automobile exclusive road, that is, in the parking area where the own vehicle recognizes only the road information of the exit road. This is the case when entering. FIG. 3 illustrates a case where the host vehicle enters SA / PA from the main line of the automobile exclusive road. In FIG. 3, 30 indicates SA / PA, and 31 indicates the main line of the exclusive road for automobiles. Reference numeral 32a denotes an entrance path that leads a vehicle from the main line 31 of the automobile exclusive road to the SA / PA 30, and 32b denotes an exit path that leads the vehicle from the SA / PA 30 to the main line 31 of the exclusive automobile road. Reference numerals 33a, 33b, 33c, and 33d denote exit roads that lead from the outer roads of the SA / PA 30 to the main line 21, and the arrow directions indicate the exit road link directions that are given as one-way attributes to the exit roads. . Here, the exit road link direction specifically means a unique direction vector assigned to the exit road link data in the map data stored in the storage device 11. Reference numeral 34 denotes a triangle mark indicating the position of the host vehicle, and the traveling direction of the host vehicle is the apex angle direction of the triangle mark.

  In response to the above operation, the control unit 16 starts the operation, and proceeds to step 201 to determine whether or not the host vehicle is traveling on the exit road in the SA / PA. If it is determined in step 201 that the host vehicle is traveling on an exit road in the SA / PA (step 201: YES), the process proceeds to step 202. If it is determined that the host vehicle is not traveling on the exit road in SA / PA (step 201: NO), the routine proceeds to step 204.

  A subsequent step 202 is a step of detecting reverse running of the host vehicle traveling on the exit road in the SA / PA. This step corresponds to the first reverse running detection means described in claim 1.

  Specifically, first, the control unit 16 obtains coordinate information of the current position of the host vehicle from the travel distance calculated based on the vehicle speed that can be detected from the vehicle speed sensor 12a and the direction change detected from the gyro sensor 12b. To do. Then, the exit road link direction assigned to the exit road in the SA / PA currently traveling is acquired from the map data stored in the storage device 11.

  Next, in order to acquire the traveling direction of the host vehicle, the coordinate information of the host vehicle acquired from the GPS 12c is continuously stored in time. Then, it is possible to detect the traveling direction of the host vehicle using the continuous direction vector generated by connecting the stored points as the traveling locus. Further, the traveling direction of the host vehicle may be detected from the steering angle of a steering wheel obtained from a steering sensor (not shown).

  Then, an angle formed between the acquired exit road link direction and the traveling direction of the host vehicle (a unique direction vector stored as the exit road link direction and a detected direction vector indicating the traveling direction of the host vehicle). When the angle formed) satisfies a predetermined condition (for example, 30 degrees or less), it can be determined that the host vehicle is traveling along the exit road link direction in the SA / PA. On the other hand, when the angle formed by the two does not satisfy the predetermined condition, it can be determined that the host vehicle is traveling backward with respect to the exit road in the SA / PA.

  Therefore, when the reverse running of the host vehicle on the exit road in SA / PA is detected in step 202 (step 202: YES), the process proceeds to step 203, and the reverse running of the host vehicle is not detected (step 202). 202: NO), return to step 201 and repeat the operation.

  In step 203, the exit road in the SA / PA where the host vehicle is currently running backward is blinked and highlighted on the display unit 13, or the voice generation unit 14 provides voice notification. After the notification is performed, the process returns to step 201 to repeat the operation.

  Next, in step 204, it is determined whether or not the host vehicle is traveling on the inner circumference road in the SA / PA. If it is determined in step 204 that the host vehicle is traveling on the inner circumference of the SA / PA (step 204: YES), the process proceeds to step 205. If it is determined that the host vehicle is not traveling on the inner circumference path in the SA / PA (step 204: NO) (that is, the host vehicle is not running on the exit road and the inner circumference path in the SA / PA). (This means that the vehicle has exited from SA / PA and has returned to the main road of the exclusive road for cars.)

  Next, in step 205, since the host vehicle is traveling on the inner peripheral road in the SA / PA, a travelable route that can reach from the current position of the host vehicle to the exit road in the SA / PA is calculated.

  This will be specifically described with reference to FIGS. First, the control unit 16 calculates all possible travel route candidates that can reach from the current position of the host vehicle 34 to the exit road in the SA / PA. In FIG. 4, for example, broken lines 40a, 40b, 40c, 40d, 40e, 40f, 40g, and 40h extending from the host vehicle 34 are calculated as candidate examples of the travelable route, and the directions of the respective arrows are the travelable routes. A travelable direction given as a one-way attribute (hereinafter, the travelable direction of the travelable route is referred to as a travelable route link direction) is shown.

  Next, the control unit 16 narrows down the travelable route from the exit road link direction of the exit road in the SA / PA. First, in FIG. 4, since the exit road link directions of the exit roads 33b and 33d are the same, the exit direction of the SA / PA is considered to be the exit road link direction of the exit roads 33b and 33d. Therefore, when the travelable route candidate is translated, if the angle formed with the exit roads 33b and 33d does not satisfy a predetermined condition (for example, 90 degrees or less), the travelable route candidate is SA / PA. It will go in the direction away from the exit direction. Therefore, candidates for travelable routes that do not satisfy the predetermined condition are excluded. Specifically, in FIG. 4, broken lines 40a, 40b, and 40h do not satisfy the predetermined condition, and are excluded from candidates for travelable routes.

  In this way, as shown in FIG. 5, the control unit 16 uses the solid lines 50 a, 50 b, 50 c, 50 d, as possible travel routes that can reach the exit road in the SA / PA from the current position of the host vehicle 34. 50e can be calculated. Therefore, even if the current position of the vehicle is an area where road information other than the exit road in the parking area is not maintained, the user can travel to the exit road in the parking area according to the calculated travelable route. it can.

  A subsequent step 206 is a step of detecting reverse running of the host vehicle traveling on the inner circumference path in the SA / PA. This step corresponds to the second reverse running detection means described in claim 1.

  Specifically, as a method of detecting reverse running, the control unit 16 uses the coordinate information of the current position of the host vehicle acquired using the values detected from the vehicle speed sensor 12a and the gyro sensor 12b, and the previously calculated travelable route. Compare Here, when the current position of the host vehicle leaves the travelable route, the host vehicle may run backward in the SA / PA if it continues to travel. Therefore, reverse running of the host vehicle is detected when the host vehicle leaves the travelable route. For example, in FIG. 6, when the own vehicle 34 moves in the direction of the arrow of the dotted line 60a, the own vehicle 34 leaves the point 61a with respect to the previously calculated travelable route 50c. Therefore, the control unit 16 can detect reverse running of the host vehicle 34 at the point 61a.

  As another method for detecting reverse running, even when the host vehicle is traveling on the calculated travelable route, the travel direction of the host vehicle is different from the travelable route link direction of the travelable route. Detects reverse running of own vehicle. For example, in FIG. 6, when the host vehicle 34 moves in the direction of the arrow of the dotted line 60 b, the host vehicle 34 is traveling on the travelable route 50 a previously calculated. The angle formed by the travelable route link direction and the travel direction of the host vehicle does not satisfy a predetermined condition (for example, 30 degrees or less). Therefore, the control unit 16 can detect reverse running of the host vehicle 34 at the point 61b.

  According to step 206, since the user can know the backward running of the vehicle before reaching the exit road where the road information is maintained, the driving operation such as the route return can be performed at an early stage.

  From the above, when the reverse running of the own vehicle on the inner circumference path in the SA / PA is detected in Step 206 (Step 206: YES), the process proceeds to Step 207, and the reverse running of the own vehicle is not detected (Step 206). : NO), the process proceeds to Step 208.

  In step 207, as in step 202, notification is performed by the display unit 13 and the sound generation unit 14. After the notification, the process proceeds to step 208.

  Next, at step 208, the control unit 16 determines whether or not the host vehicle has reached the exit road in the SA / PA. If it is determined in step 208 that the host vehicle has reached the exit road in SA / PA (step 208: YES), the process returns to step 201 and the operation is repeated. If it is determined that the host vehicle has not reached the exit road in SA / PA (step 208: NO), the process returns to step 206 and is repeated.

  Note that the operation shown in this flowchart ends when the host vehicle leaves the SA / PA and returns to the main road of the automobile road as described in step 204.

  In the above embodiment, the second reverse running detection is performed using the travelable route. However, the following may be performed. That is, as a modification of the present embodiment, first, a reverse running area (an area where the possibility of passing if the host vehicle runs backward) is calculated. And you may perform reverse run detection of the own vehicle by the presence or absence of the possibility of approach to a reverse run area.

  Hereinafter, a method for calculating the reverse running area at the same time as calculating the travelable route in step 205 in FIG. 2 and a method for detecting reverse running of the host vehicle using the reverse running area in step 206 in FIG. 2 will be described.

  A method for calculating the reverse run area in step 205 will be described with reference to FIG. In FIG. 7, first, as in step 205, the own vehicle 34 calculates travelable routes 70 a, 70 b, 70 c, 70 d, and 70 e that can reach the exit road in the SA / PA from the current position. Here, the travelable routes illustrated in FIG. 7 are only the solid lines 70a, 70b, 70c, 70d, and 70e, but the area indicated by 71 is the predetermined route described in step 205 by the candidate travelable routes in SA / PA. That is, an area where a travelable route can exist (hereinafter referred to as a travelable route area). Here, the area other than the travelable route area in the SA / PA is considered to be an area that has a very high possibility of passing if the vehicle runs backward. Therefore, an area in the SA / PA in the direction not including the travelable route area 71 can be calculated as the reverse travel area 72 with the current position of the host vehicle as a base point.

  Next, in step 206, second reverse running detection is performed using the reverse running area calculated above. The control unit 16 detects reverse running when it is determined that the host vehicle has traveled in the direction of approaching or entering the reverse travel area calculated earlier and when the host vehicle has retreated in a direction away from the reverse travel area. .

  This will be specifically described with reference to FIG. In FIG. 8, when the own vehicle 34 moves forward in the direction of the arrow of the dotted line 80a as indicated by 81a, the own vehicle 34 moves to the point 82a (the boundary between the travelable route area 71 and the reverse running area 72 in FIG. 7). Enter the reverse run area 72 at (part). Therefore, it is possible to detect reverse running of the host vehicle at the point 82a.

  In addition, when the host vehicle 34 moves forward in the direction of the arrow of the dotted line 80a, the point 82b (a point in which it can be determined that the vehicle will enter the reverse running area 72 when traveling as it is, assuming that the traveling direction of the axis of the host vehicle is maintained ), It can be determined that there is a high possibility of entering the reverse running area 72. Therefore, even before entering the reverse running area, it is possible to detect reverse running of the host vehicle at the point 82b that has traveled in the direction of entering the reverse running area 72.

  When the host vehicle 34 moves backward in the direction away from the reverse running area 72 as shown by 81b and then moves forward in the direction of the arrow of the dotted line 80b, the own vehicle 34 enters the reverse running area 72 at the point 82c. Will do. Here, generally, when the host vehicle moves backward, the host vehicle travels in the front direction of the vehicle. Therefore, when the host vehicle 34 moves backward in the direction away from the reverse running area 71, it can be determined that there is a possibility of traveling toward the reverse running area 72 thereafter. Therefore, even before entering the reverse running area 72, the reverse running of the host vehicle can be detected at the point 82d that has moved backward in the direction away from the reverse running area 72.

  In addition, when the own vehicle 34 retreats from the current position in a direction approaching the reverse running area 72 as indicated by 81c, the vehicle 34 may enter the reverse running area 72 at a point 82e. However, as shown in 81c, even when the host vehicle 34 moves backward and enters the reverse running area 72, the host vehicle 34 is likely to travel away from the reverse running area 72 thereafter. It can be judged. Therefore, the backward running of the host vehicle may not be detected at the point 82e that has entered the backward running area 72 by retreating.

By the way, when the own vehicle is parked in SA / PA, the user leaves the own vehicle to take a break after stopping the driving system of the own vehicle. Then, when the user activates the drive system to start the vehicle again, a certain period of time has elapsed since parking at the SA / PA, and the SA / PA exit direction may be forgotten. There is. Then, next, the operation | movement until it starts from the state which the own vehicle has parked in SA / PA, and leaves SA / PA is demonstrated.
(Operations after parking at SA / PA until leaving SA / PA)
FIG. 9 is an operation flowchart relating to this operation. The trigger for starting the operation (step 900) is, for example, when the host vehicle is parked in the SA / PA, that is, when parking of the host vehicle is detected in the parking area.

  By configuring in this way, when the user parks the vehicle in the parking area and then may start the vehicle while forgetting the exit direction of the parking area, reverse detection or traveling Driving support such as display of possible routes can be effectively performed.

  In response to the above operation, the control unit 16 starts the operation, and proceeds to step 901 to calculate a travelable route from the parking position of the host vehicle to the exit road in the SA / PA. Specifically, as described in step 205 of FIG. 2, the travelable route can be calculated using the exit road link direction assigned to the exit road in SA / PA. After calculating the travelable route, the process proceeds to step 902.

  A subsequent step 902 is a step of detecting reverse running of the host vehicle traveling on the inner peripheral road in the SA / PA. This step corresponds to the second reverse running detection means described in claim 1.

  Specifically, as described in step 206 in FIG. 2, the reverse running of the host vehicle can be detected using the travelable route calculated in step 901. In step 901, the reverse travel area can be calculated at the same time as the travelable route is calculated, and the reverse travel of the host vehicle can be detected using the reverse travel area.

  In step 902, when reverse running of the own vehicle on the inner circumference path in SA / PA is detected (step 902: YES), the process proceeds to step 903, and reverse running of the own vehicle is not detected (step 902: NO). If so, go to Step 904.

  In step 903, the display unit 13 blinks and highlights the inner circumferential path in the SA / PA where the host vehicle is currently running in reverse, or the voice generation unit 14 provides voice notification. After the notification is performed, the process proceeds to step 904.

  Next, in step 904, it is determined whether or not the own vehicle has reached the exit road in SA / PA. If it is determined in step 904 that the host vehicle has reached the exit road in SA / PA (step 904: YES), the process proceeds to step 905. If it is determined that the host vehicle has not reached the exit road in SA / PA (step 904: NO), the process returns to step 901 to repeat a series of operations.

  In subsequent step 905, since the host vehicle is traveling on the exit road in the SA / PA, the control unit 16 performs first reverse running detection. As described in step 202 in FIG. 2, the specific method is to reverse the host vehicle using the exit road link direction assigned to the exit road in SA / PA and the travel direction of the host vehicle. Can be detected.

  In step 905, if reverse running of the host vehicle is detected on the exit road in SA / PA (step 905: YES), the process proceeds to step 906, and no reverse running of the host vehicle is detected (step 905: NO). If so, go to Step 907.

  In step 906, as in step 903, notification is performed by the display unit 13 and the sound generation unit 14. After the notification, the process proceeds to step 907.

Next, in step 907, it is determined whether or not the own vehicle has left SA / PA. If it is determined in step 907 that the vehicle has exited SA / PA (step 907: YES), the process proceeds to step 908, and the series of operations is terminated. If it is determined that the host vehicle has not exited SA / PA (step 907: NO), the process returns to step 904 to repeat a series of operations.
(Example 2)
In the first embodiment, the travelable route that can reach the exit road from the inner road in the parking area is calculated based on the exit road link direction of the exit road. In other words, the calculated travelable route and the road in the parking area where the host vehicle actually travels do not necessarily match. The above case will be specifically described with reference to FIG. In FIG. 10, reference numeral 100 denotes a rotary existing in the SA / PA. A solid line 101 indicates a travelable route that can reach the exit road 33c from the current position of the host vehicle 34 calculated in the first embodiment. A dotted line 102 shows an actual inner road in the SA / PA that can go around the rotary 100 from the current position of the host vehicle 34 to the exit road 33c. Here, in the first embodiment, the structure in the SA / PA is not taken into consideration, so the travelable route 101 is calculated so as to pass over the rotary 100. Therefore, even when the host vehicle 34 travels along the actual inner road in SA / PA according to the dotted line 102, it is determined that the vehicle 34 has left the calculated travelable path 101 when turning around the rotary 100. There is a possibility that reverse running will be erroneously detected.

  Therefore, in the second embodiment, the inner circumference path in the parking area and the travelable direction of the inner circumference path (hereinafter, the travel direction of the inner circumference path is referred to as the inner circumference link direction) are obtained from the outside and obtained. A travelable route is calculated based on the inner circumference path and the inner circumference link direction.

  FIG. 11 is a block diagram illustrating an overall configuration of a vehicle navigation system to which the vehicle reverse running prevention system according to the second embodiment is applied. The in-vehicle navigation device 110 is connected to a communication unit 111 for communicating with the outside such as the information center 112 in addition to the configuration shown in FIG.

  The communication unit 111 includes a rod antenna attached to the roof of the vehicle, an antenna such as a film antenna attached to the windshield in the vehicle interior, and a transmission / reception circuit. You can get it.

  In the second embodiment, the configuration of an operation flowchart for notification by reverse running detection performed until the host vehicle enters SA / PA and exits SA / PA is the same as the flowchart shown in FIG. Further, the configuration of the operation flowchart for notification by reverse running detection that is performed until the vehicle starts from a state where it is parked in SA / PA and leaves SA / PA is the same as the flowchart shown in FIG. is there. The difference here is the method of calculating the travelable route to the exit road in SA / PA in step 205 and FIG. 9 step 901 described in the first embodiment. Hereinafter, a method for calculating the travelable route in the second embodiment will be described.

  As an operation corresponding to FIG. 2 step 205 and FIG. 9 step 901 of the second embodiment, first, the control unit 16 acquires road information in the SA / PA from outside the vehicle. As road information acquired from the outside of the vehicle, for example, the traveling center of the vehicle in SA / PA is collected at the information center 112. In FIG. 12, broken lines 120 a, 120 b, 120 c, and 120 d show an example of a vehicle travel locus within the SA / PA collected by the information center 112. Moreover, the arrow directions given to the broken lines 120a, 120b, 120c, and 120d indicate directions in which the vehicle has traveled on the travel locus. Here, a portion of the vehicle travel trajectory collected at the information center 112 that is not an exit road in the SA / PA can be determined as a travel trajectory traveled on the inner peripheral road in the SA / PA. . Therefore, the control part 16 can acquire the information regarding an internal circuit and an internal circuit link direction from the road information acquired from the vehicle exterior. In addition, the information center 112 collects travel trajectories of vehicles traveling in the SA / PA and converts them into map data, so that each vehicle acquires map data relating to the created inner road in the SA / PA from the information center 112. It may be.

  Therefore, as shown in FIG. 13, the control unit 16 can calculate the solid lines 130 a, 130 b, and 130 c as the travelable routes that can reach the exit road in the SA / PA from the current position of the host vehicle 34.

  If comprised in this way, since the calculated driveable path | route and the road in the parking area where the own vehicle actually drive | works match, it can prevent the above erroneous reverse run detection.

In addition, when traveling on a T-road in a parking area or an inner peripheral road with a small curvature radius and a tight curve, a travelable route according to the road in the parking area where the vehicle actually travels is the same as above. Can be calculated.
(Example 3)
In Example 1 and Example 2, it demonstrated on the assumption that the system did not memorize | store the road information regarding the internal peripheral path in a parking area. Here, when road information including the inner road and the inner road link direction in the parking area is improved in the future, the travelable route can be calculated based on the improved road information. However, a certain period of time is required for the road information in the parking area to be completely maintained. Even if position information such as the latitude and longitude of the inner road is maintained, information on the inner road link direction is maintained. Not necessarily. Therefore, in the third embodiment, the inner peripheral road and the inner peripheral link direction in the parking area are acquired from the outside, and the travelable route is calculated based on the acquired road information.

  In Example 3, the block diagram which shows the whole structure of the navigation system for vehicles to which the reverse running prevention system for vehicles was applied is the same as that of FIG. Here, the storage device 11 stores not only the exit road and exit road link direction in the SA / PA, but also the inner circumference road and a part of the inner circumference link direction.

  In the third embodiment, the configuration of an operation flowchart for notification by reverse running detection performed until the host vehicle enters SA / PA and exits SA / PA is the same as the flowchart shown in FIG. Further, the configuration of the operation flowchart for notification by reverse running detection that is performed until the vehicle starts from a state where it is parked in SA / PA and leaves SA / PA is the same as the flowchart shown in FIG. is there. The difference here is that, in step 205 in FIG. 2 and step 901 in FIG. 9, a travelable route to the exit road in SA / PA is calculated according to the flowchart shown in FIG. Hereinafter, a method for calculating the travelable route in the third embodiment will be described.

  First, in step 141 in FIG. 14, the control unit 16 specifies an inner circumferential path in the SA / PA that does not store the inner circumferential link direction. This operation will be specifically described with reference to FIG. FIG. 15 is a diagram schematically showing the inner circumference path in the SA / PA stored in the storage device 11. In FIG. 15, broken lines 150 a and 150 b indicating the inner peripheral path to which an arrow indicating the inner peripheral link direction is provided, and the inner peripheral path to which the inner peripheral link direction is not stored and the arrow is not provided. A broken line 151 is identified.

  Next, in step 142, for the inner circumference road 151 in which the inner circumference link direction is not stored, the inner circumference link direction is specified based on the exit road link direction of the exit road in the SA / PA. As a specific method, for example, the inner road in SA / PA and the exit road are substantially parallel, or the intersection of the extension line of the inner road and the exit road in SA / PA. When the angle to be satisfied satisfies a predetermined condition (for example, less than 90 degrees), it is determined that the inner road link direction of the inner road and the exit road link direction of the exit road are the same. Can do. In FIG. 15, since the exit road link directions of the exit roads 33b and 33d are the same, the SA / PA exit method is considered to be the exit road link direction of the exit roads 33b and 33d. Since the inner road 151 and the exit roads 33b and 33d are parallel to each other, the exit road link direction of the exit roads 33b and 33d can be determined to be the inner circumference link direction of the inner road 151.

  Therefore, in step 143, it is possible to calculate the travelable routes 160a and 160b that can reach the exit road from the current position of the host vehicle as shown in FIG.

If comprised in this way, the inner periphery road link direction in which one part is not maintained can be specified based on the exit road link direction of the exit road. In other words, even if some of the inner road link directions are not maintained, the road information in the parking area where the host vehicle actually travels is based on the maintained road information and the specified inner road link direction. The travelable route can be calculated. Therefore, the user can know the detailed and quick reverse running of the vehicle.
Example 4
In the above-described Examples 1 to 3, the travelable direction to the exit road is calculated. In Example 4, the travel trajectory (parking travel trajectory) until parking with SA / PA, The reverse travel is detected by comparing the travel locus after departure (the leaving travel locus).

  In the fourth embodiment, the system configuration is the configuration shown in FIG. However, the processing performed by the control unit 16 is different. FIG. 20 is a flowchart illustrating a main part of processing executed by the control unit 16 in the fourth embodiment.

  The flowchart shown in FIG. 20 starts when it is determined that the host vehicle has left the main road of the toll road and entered SA / PA (step 2000). The determination that the vehicle has entered SA / PA is made based on the map data stored in the storage device 11 and the current location.

  After starting the process in Step 2000, the process proceeds to Step 2001, and the acquisition of the warehousing travel locus is started. The acquisition of the warehousing travel locus is obtained by sequentially acquiring and storing the current location (coordinates) of the host vehicle after determining that the vehicle has entered SA / PA as the current location at the time of warehousing, and is generated by connecting the acquired locations. The continuous direction vector is used as the warehousing travel locus.

  In the following step 2002, it is determined whether or not the parking space has been entered. This determination is made, for example, by detecting the ignition off or detecting that the shift position has become the parking position. If it is determined that the parking space has been entered (step 2002: YES), the process proceeds to step 2003. If it is determined that the parking space has not been entered (step 2002: NO), the determination in step 2002 is repeated.

  In step 2003, acquisition of the warehousing travel locus is terminated. Steps 2001 to 2003 correspond to warehousing travel locus creation means.

  In the following step 2004, it is determined whether or not the car is out of the parking space. This determination is made based on whether or not it is determined that the vehicle has started to travel. The determination of the start of travel is based on, for example, the fact that a vehicle speed pulse has been acquired, an accelerator-on has been detected, or the current location has changed. Do. If it is determined that the vehicle has left the parking space (step 2004: YES), the process proceeds to step S2005. If it is not determined that the vehicle has left the parking space (step 2004: NO), step 2004 is repeated.

  In step 2005, acquisition of the leaving traveling locus is started. The acquisition travel locus is obtained by sequentially acquiring and storing the current location (coordinates) of the host vehicle after leaving the parking space as the current location at the time of departure travel, and the continuous direction generated by connecting the acquired points The vector is used as the outgoing travel locus.

  In subsequent step 2006, the warehousing trajectory is compared with the warehousing travel trajectory, and the garage travel trajectory is equal to or more than a first threshold distance (for example, 30 m) set in advance at the minimum distance at which both trajectories can be compared with high accuracy. It is determined whether or not the vehicle passes through the vicinity. It should be noted that the vicinity includes a case where there is almost no difference between the two loci and the two loci substantially coincide. Specifically, the judgment in step 2006 is to calculate the azimuth difference between the two loci at every predetermined distance from the starting point of the parking space, starting from the parking space. Then, it is determined whether or not the distance in which the azimuth difference between the loci is equal to or less than the threshold angle continues for the first threshold distance or more.

  FIG. 21 is a diagram for explaining an example in which step 2006 is YES. In FIG. 21, the broken line indicates the warehousing travel locus, and the solid line indicates the warehousing traveling locus. In this figure, point A is the point where step 2006 is YES. As can be seen from this figure, when step 2006 is YES, it can be determined that the leaving traveling locus is running substantially in reverse with the entering traveling locus. Also, as can be seen from this figure, it is not necessary that the azimuth difference between the two trajectories is less than the threshold angle from the parking position. Even in this case, step 2006 is YES. If the determination in step 2006 is YES, the process proceeds to step 2008. If the determination is NO, the process proceeds to step 2007.

  In step 2007, it is determined whether the vehicle has traveled more than the second threshold distance after leaving the parking space. If this determination is NO, the process returns to step 2006, and if it is YES, the process proceeds to step 2010. The second threshold distance is a distance for ending the comparison of the traveling tracks. For this reason, the second threshold distance is set in advance to a distance (for example, 100 m) longer than the first threshold distance. The first threshold distance and the second threshold distance may be set by the user.

  In step 2008, which is executed when it is determined in step 2006 above that the exit travel locus passes through the vicinity of the entry travel locus, a warning that the vehicle is running backward is issued from the display unit 13 or the sound generation unit 14. Output. Then, the process proceeds to Step 2009.

  In step 2009, it is determined whether the reverse running state has ended. For this determination, the same determination as in the above-described step 2006 is performed again, and when the leaving traveling locus does not pass through the vicinity of the entering traveling locus, it is determined that the reverse running state has ended (step 2009: YES), Proceed to step 2010. On the other hand, when the leaving traveling locus still passes through the vicinity of the entering traveling locus, it is determined that the reverse running state has not ended (step 2009: NO), and the processing returns to step 2006. In step 2010, the acquisition of the leaving travel locus is finished.

  Steps 2005 and 2010 correspond to the outgoing travel locus creation means, and steps 2006, 2007 and 2009 correspond to the reverse travel detection means.

  As described above, in the fourth embodiment described above, the warehousing trajectory that is a travel trajectory from entering the SA / PA to the parking is compared with the leaving travel trajectory that is the travel trajectory after re-starting after parking, When it is determined that the outgoing traveling locus passes through the vicinity of the incoming traveling locus for the first threshold distance or more, the reverse traveling is determined. Since reverse running is detected using the travel locus in this way, it becomes possible to detect reverse warning and issue a warning at a relatively early time after restart. Furthermore, reverse running can be detected even with an SA / PA that has no exit road, and the vehicle does not need to be equipped with a clearance sonar. Also, there is no need to calculate an exit road.

  Moreover, in this Example 4, when driving | running | working more than 1st threshold distance, since a warehousing locus | trajectory is compared with a warehousing locus | trajectory, the comparison with a bad precision will be performed in the state where the length of the evacuation locus | trajectory is not enough. This can be suppressed. In addition, when the vehicle travels the second threshold distance from the time of restart, the comparison of both trajectories is completed, so that the comparison of both trajectories can be suppressed even though the comparison is unnecessary.

  The preferred embodiments of the present invention have been described above, but the present invention is not limited to the above-described embodiments, and various forms can be adopted as long as they belong to the technical scope of the present invention.

  For example, in the second and third embodiments, as described with reference to FIGS. 7 and 8 in the first embodiment, as a modification of the first embodiment, the reverse running area is calculated using the travelable route, and the own vehicle The reverse running detection may be determined based on the possibility of entering the reverse running area.

  Moreover, in the said Example, existence of vehicles other than the own vehicle in SA / PA is not considered at all. For this reason, even if the vehicle starts to travel according to the travelable route calculated, there may be an obstacle such as another vehicle and the vehicle cannot travel on the travelable route. Therefore, when calculating the travelable route in FIG. 2 step 205 and FIG. 9 step 901, the positional relationship between the host vehicle and the surrounding vehicle is detected, and the candidate travelable route including the position where the other vehicle exists is excluded, It is preferable to calculate only a travelable route on which the host vehicle can travel. A specific example applied to the first embodiment will be described with reference to FIG. In FIG. 17, reference numeral 170 denotes another vehicle parked around the host vehicle 34.

  First, the control unit 16 calculates all possible travel route candidates that can reach from the current position of the host vehicle 34 to the exit road in the SA / PA. In FIG. 17, broken lines 40a, 40b, 40c, 40d, 40e, 40f, 40g, and 40h are calculated as in FIG.

  Next, the control unit 16 detects the positional relationship between the host vehicle and the surrounding vehicle using a clearance sonar (not shown) that can detect an object existing in the vicinity by the emission of ultrasonic waves. In FIG. 17, it detects that the other vehicle 170 exists around the own vehicle.

  Next, when narrowing down the travelable routes, in addition to the exit road link direction of the exit road in SA / PA, the positional relationship between the host vehicle 34 and the other vehicle 170 detected earlier is considered. In FIG. 17, first, the broken lines 40a, 40b, and 40h, which are candidates for the travelable route, proceed in a direction away from the exit direction of the parking area, as described in step 205 in FIG. The broken lines 40c, 40d, 40e, 40f, and 40g remain as candidates. Next, the broken line 40d is excluded from the candidates because the other vehicle 170 exists on the route and cannot travel.

  Therefore, as shown in FIG. 18, the control unit 16 considers the positional relationship between the host vehicle and the other vehicle, and is a solid line 180a as a travelable route that can reach the exit road in the SA / PA from the current position of the host vehicle. , 180b, 180c, 180d can be calculated. In this way, it is possible to prevent a travelable route in which another vehicle exists and the host vehicle cannot travel from being calculated and displayed to the user.

  In the above embodiment, when calculating the reverse running area, the current position of the host vehicle is used as a base point. That is, as shown in FIG. 7, immediately after calculating the reverse running area, the distance between the current position of the host vehicle and the reverse running area is close. Therefore, immediately after calculating the reverse running area, if the user's steering operation has been shaken by the user's steering operation, or if the vehicle has made a turn to change the direction of the own vehicle, the vehicle will enter the reverse running area and There is a possibility that the reverse running of the vehicle is erroneously detected. Therefore, when calculating the reverse running area, it is preferable to calculate the reverse running area using a point outside the current position of the host vehicle as a base point.

  With reference to FIG. 19 specifically, the example applied to Example 1 is demonstrated. In FIG. 19, a point 190 outside the current position of the host vehicle that is a base point for calculating the reverse running area is an area other than the travelable route area 71 calculated in FIG. 7 in SA / PA, It means a point away from the current position of the host vehicle by a predetermined distance (for example, a distance of several meters from the current position of the host vehicle, such as the width of the host vehicle or the turning radius of the host vehicle).

  Accordingly, as shown in FIG. 19, the control unit 16 determines an area in the SA / PA that does not include the travelable route area 71 from a point 190 that is a certain distance away from the current position of the host vehicle. It can be calculated as a reverse run area 191. In this way, even if the behavior of the host vehicle fluctuates immediately after calculating the reverse running area, there is a certain distance from the current position of the own vehicle to the reverse running area, so the reverse running of the own vehicle is erroneously detected. The possibility of doing so can be reduced.

  In the above-described embodiment, the second reverse running detection is performed based on whether or not the vehicle has left the travelable route. However, depending on the user's operation, for example, the user's steering operation or parking can be performed without the intention of reverse running. There is a case that the vehicle travels by turning over at the time. In such a case, it is troublesome for the user to issue a mechanical warning just because the vehicle has left the travelable route. Therefore, it is preferable that the control unit 16 does not perform reverse running detection if the host vehicle is within a predetermined range even when the vehicle has left the travelable route in the second reverse running detection. In other words, if there is a margin of several meters in the direction perpendicular to the calculated travelable route (lateral direction, width direction) and the trajectory of the host vehicle is within the area formed by the margin, a warning is given. It is also possible not to do so.

  Note that this margin may be set based on the user's driving history (a value indicating how much the steering operation is shaken, which is obtained by measuring how much it shakes during normal driving).

  In this way, even if the own vehicle shakes due to the user's steering operation or the like, it is possible to prevent notification by reverse running detection that is not only troublesome for the user but also possibly confusing.

  Further, in the present invention, it is naturally possible to detect reverse running of the host vehicle in the entrance path 32a and the exit path 32b based on the one-way attribute assigned to the SA / PA entrance path 32a and the exit path 32b. .

  Further, in the fourth embodiment, the warehousing traveling locus and the leaving traveling locus are compared based on the azimuth difference. However, the comparison may be performed based on the distance difference. Specifically, a point having the same distance from the starting point (parking position) may be determined for each of the warehousing traveling locus and the leaving traveling locus, and the comparison may be performed based on the distance difference between the two points.

  Further, in the fourth embodiment, the warehousing traveling locus is the entire traveling locus from entering the SA / PA to entering the parking space, but is not limited thereto. When the comparison of the trajectories is to be ended at the second threshold distance, the length of the warehousing travel trajectory may be the maximum, the second threshold distance described above. In this case, when the distance from entering the SA / PA to entering the parking space exceeds the second threshold distance, the locus is sequentially deleted from the oldest side in time.

DESCRIPTION OF SYMBOLS 10, 110 Car-mounted navigation apparatus 11 Memory | storage device 12 Sensor part 16 Control part 111 Communication part 33a, 33b, 33c, 33d Exit road 71 Driving | running | working route area 72,191 Reverse running area

Claims (30)

Own vehicle information detecting means for detecting the current position and traveling direction of the own vehicle;
Storage means for storing an exit road that exists in the parking area and leads to an external road from within the parking area and a travelable direction of the exit road;
First reverse running detection for detecting reverse running of the own vehicle on the exit road from the detected current position and travel direction of the own vehicle and the stored possible directions of the exit road and the exit road. Means and
In the vehicle reverse running prevention system that notifies when the first reverse running detection means detects reverse running of the host vehicle,
Travel that calculates a travelable route from the current position of the vehicle to the exit road based on the travelable direction of the exit road when the host vehicle has not reached the exit road in the parking area Possible route calculation means;
A second reverse running detection means for detecting reverse running of the host vehicle based on the calculated travelable route and at least the current position of the host vehicle;
Informing when the reverse running of the host vehicle is detected by the second reverse running detection means;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 1,
A surrounding vehicle detection means for detecting a positional relationship between the host vehicle and the surrounding vehicle;
The travelable route calculation means calculates the travelable route in consideration of the positional relationship detected by the surrounding vehicle detection means;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 1 or 2,
A parking detection means for detecting that the host vehicle is parked in the parking area;
The reverse running detection by the second reverse running detection means is performed when the own vehicle moves again after the parking detection means detects parking of the own vehicle,
The travelable route calculating means calculates a travelable route from a parking position of the host vehicle to the exit road;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 1,
The second reverse running detection means compares the travelable route with the current position of the host vehicle, and detects reverse travel of the host vehicle when the current position of the host vehicle leaves the travelable route. thing,
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 1,
The second reverse running detection means detects the reverse running of the host vehicle when the running direction of the host vehicle is different from the runnable route by comparing the travelable route and the running direction of the host vehicle. ,
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 1,
A reverse running area calculating means for calculating the reverse running area is provided.
The reverse running area is the parking area in a direction not including the travelable route based on the current position of the host vehicle,
The second reverse running detection means travels in a direction in which the own vehicle enters or enters the reverse running area based on the calculated reverse running area, the current position of the own vehicle, and the traveling direction of the own vehicle. Detecting if the vehicle is running backwards,
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 6,
The second reverse running detection means detects reverse running of the own vehicle when the own vehicle moves backward in a direction away from the reverse running area based on the current position of the own vehicle and the running direction of the own vehicle. To do,
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 6 or 7,
The reverse running area calculating means calculates the reverse running area based on a point outside the current position of the host vehicle;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 1,
The second reverse running detection means does not detect reverse running if the current position of the host vehicle is within a predetermined range with respect to the travelable route;
A reverse running prevention system for vehicles. Own vehicle information detecting means for detecting the current position and traveling direction of the own vehicle;
Storage means for storing an exit road that exists in the parking area and leads to an external road from within the parking area and a travelable direction of the exit road;
First reverse running detection for detecting reverse running of the own vehicle on the exit road from the detected current position and travel direction of the own vehicle and the stored possible directions of the exit road and the exit road. Means and
In the vehicle reverse running prevention system that notifies when the first reverse running detection means detects reverse running of the host vehicle,
Inner road information acquisition means for acquiring an inner road other than the exit road in the parking area and a travelable direction of the inner road from the outside,
The acquired inner peripheral path and the travelable direction of the inner peripheral path are specified based on a travel locus of another vehicle,
When the host vehicle has not reached the exit road in the parking area, the current position of the host vehicle from the current position of the host vehicle to the exit road is determined based on the acquired inner and inner roads. A travel route calculating means for calculating a travelable route;
A second reverse running detection means for detecting reverse running of the host vehicle based on the calculated travelable route and at least the current position of the host vehicle;
Providing a notification when reverse running is detected by the second reverse running detection means;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 10,
A surrounding vehicle detection means for detecting a positional relationship between the host vehicle and the surrounding vehicle;
The travelable route calculation means calculates the travelable route in consideration of the positional relationship detected by the surrounding vehicle detection means;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 10 or 11,
A parking detection means for detecting that the host vehicle is parked in the parking area;
The reverse running detection by the second reverse running detection means is performed when the own vehicle moves again after the parking detection means detects parking of the own vehicle,
The travelable route calculating means calculates a travelable route from a parking position of the host vehicle to the exit road;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 10,
The second reverse running detection means compares the travelable route with the current position of the host vehicle, and detects reverse travel of the host vehicle when the current position of the host vehicle leaves the travelable route. thing,
A reverse running prevention system for vehicles. A vehicle reverse running prevention system according to claim 10 to 13,
The second reverse running detection means detects the reverse running of the host vehicle when the running direction of the host vehicle is different from the runnable route by comparing the travelable route and the running direction of the host vehicle. ,
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 10 to 14,
A reverse running area calculating means for calculating the reverse running area is provided.
The reverse running area is the parking area in a direction not including the travelable route based on the current position of the host vehicle,
The second reverse running detection means travels in a direction in which the own vehicle enters or enters the reverse running area based on the calculated reverse running area, the current position of the own vehicle, and the traveling direction of the own vehicle. Detecting if the vehicle is running backwards,
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 15,
The second reverse running detection means detects reverse running of the own vehicle when the own vehicle moves backward in a direction away from the reverse running area based on the current position of the own vehicle and the running direction of the own vehicle. To do,
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 15 or 16,
The reverse running area calculating means calculates the reverse running area based on a point outside the current position of the host vehicle;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 10 to 17,
The second reverse running detection means does not detect reverse running if the current position of the host vehicle is within a predetermined range with respect to the travelable route;
A reverse running prevention system for vehicles. Own vehicle information detecting means for detecting the current position and traveling direction of the own vehicle;
The exit road that exists in the parking area and leads from the inside of the parking area to the outside road, the travelable direction of the exit road, and the inner peripheral path and a part of the travelable direction in the parking area are stored. Storage means for
First reverse running detection for detecting reverse running of the own vehicle on the exit road from the detected current position and travel direction of the own vehicle and the stored possible directions of the exit road and the exit road. Means,
When the own vehicle has not reached the exit road in the parking area, the exit vehicle is moved from the current position of the own vehicle on the basis of the stored exit road and inner road and its travelable direction. A travelable route calculating means for calculating a travelable route to the road;
A second reverse running detection means for detecting reverse running of the host vehicle based on the calculated travelable route and at least the current position of the host vehicle;
In the vehicular reverse running prevention system provided with notifying means for notifying that when the reverse running of the host vehicle is detected by the first and second reverse running detecting means,
When the travelable route is calculated by the travelable route calculation means, if the travelable direction on the inner road is not stored in the storage means, the inner road is determined based on the travelable direction of the exit road. A road driving direction specifying means for specifying a driving direction is provided,
The travelable route is calculated in consideration of the travelable direction specified by the road travelable direction specifying means;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 19,
A surrounding vehicle detection means for detecting a positional relationship between the host vehicle and the surrounding vehicle;
The travelable route calculation means calculates the travelable route in consideration of the positional relationship detected by the surrounding vehicle detection means;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 19 or 20,
A parking detection means for detecting that the host vehicle is parked in the parking area;
The reverse running detection by the second reverse running detection means is performed when the own vehicle moves again after the parking detection means detects parking of the own vehicle,
The travelable route calculating means calculates a travelable route from a parking position of the host vehicle to the exit road;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 18 to 20,
The second reverse running detection means compares the travelable route with the current position of the host vehicle, and detects reverse travel of the host vehicle when the current position of the host vehicle leaves the travelable route. thing,
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 19 to 22,
The second reverse running detection means detects the reverse running of the host vehicle when the running direction of the host vehicle is different from the runnable route by comparing the travelable route and the running direction of the host vehicle. ,
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 19 to 23,
A reverse running area calculating means for calculating the reverse running area is provided.
The reverse running area is the parking area in a direction not including the travelable route based on the current position of the host vehicle,
The second reverse running detection means travels in a direction in which the own vehicle enters or enters the reverse running area based on the calculated reverse running area, the current position of the own vehicle, and the traveling direction of the own vehicle. Detecting if the vehicle is running backwards,
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 24,
The second reverse running detection means detects reverse running of the own vehicle when the own vehicle moves backward in a direction away from the reverse running area based on the current position of the own vehicle and the running direction of the own vehicle. To do,
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 24 or 25,
The reverse running area calculating means calculates the reverse running area based on a point outside the current position of the host vehicle;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 19 to 26,
The second reverse running detection means does not detect reverse running if the current position of the host vehicle is within a predetermined range with respect to the travelable route;
A reverse running prevention system for vehicles. Own vehicle information detecting means for sequentially detecting the current position of the own vehicle;
Storage means for storing map data including data of a parking area and an approach path to the parking area;
A travel locus of the host vehicle after determining that the host vehicle has entered the parking area based on the current position of the host vehicle detected by the host vehicle information detection means and the map data, and the host vehicle is parked A warehousing trajectory creating means for creating a warehousing trajectory starting from a position parked in an area based on the current position of the host vehicle detected by the host vehicle information detecting means;
After the own vehicle is parked in the parking area, an exit travel locus creating means for creating an exit travel locus that is a travel locus from when the vehicle restarts based on the current position of the own vehicle detected by the own vehicle information detection means. When,
Based on a comparison between the warehousing travel locus and the warehousing traveling locus, the vehicle includes a reverse running detection means for detecting reverse running of the host vehicle,
Informing when reverse running of the host vehicle is detected by the reverse running detection means;
A reverse running prevention system for vehicles. The vehicle reverse running prevention system according to claim 28,
Based on the fact that the reverse running detection means has traveled more than a first threshold distance set in advance to a minimum distance at which the comparison between the warehousing traveling locus and the leaving traveling locus can be accurately performed since the re-starting, both trajectories. The reverse running prevention system for vehicles characterized by comparing these. The vehicle reverse running prevention system according to claim 29,
The reverse running detection means ends the comparison between the warehousing traveling locus and the leaving traveling locus based on the traveling of the second threshold distance set to the first threshold distance or more since the restart. A reverse running prevention system for vehicles.